Locomotion system and apparatus

ABSTRACT

A locomotion system for use with a virtual environment technology includes a platform configured to support a user, a harness support assembly coupled to the platform and extending upwardly from the platform, and a safety harness configured to be worn by the user. The harness support assembly includes a support halo positioned above the platform and extending about a vertical central axis. The safety harness includes an interface structure moveably coupled to the support halo.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/088,568, filed Apr. 1, 2016, which is a continuation of U.S. patentapplication Ser. No. 14/062,625, filed Oct. 24, 2013, which claimsbenefit of U.S. Provisional patent application Ser. No. 61/717,761 filedOct. 24, 2012, and entitled “Locomotion System and Apparatus,” and alsoclaims the benefit of U.S. provisional patent application Ser. No.61/757,986 filed Jan. 29, 2013, and entitled “Locomotion System andApparatus,” which is hereby incorporated herein by reference in itsentirety.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable.

BACKGROUND

The present disclosure generally relates to locomotion devices that canbe used in conjunction with virtual reality systems.

Within a virtual reality environment, users typically desire the abilityto walk freely. In particular, the ability to physically walk or run inthe real environment and have that motion translated to the virtualenvironment significantly increases the level of immersion of the userin the virtual environment. However, movement in the real world is oftenlimited by physical space limitations (e.g., the size of the room withinwhich the user is located). Accordingly, locomotion devices are designedto provide the user the sensation of walking freely, while confining theuser to a specific location. For example, many locomotion devices allowa user to walk freely, in 360 degrees, on a platform having a finitesize without ever leaving the platform.

Conventional locomotion devices include motorized and non-motorizeddesigns, which may be used in conjunction with virtual realityenvironments in a multitude of applications including but not limited togaming. Examples of applications beyond gaming include employeetraining; combat training; physical therapy; exercise; virtual workenvironments; virtual meeting rooms (for both professional and personalpurposes); sports simulation and training; and virtual tourism,concerts, and events.

Motorized locomotion devices typically use sensors to detect themovement of the user and send feedback to motors driving belts orrollers on which the user moves. The belts or rollers are operated tocounter the user's movements and bring the user back to a centralportion of the platform after each step. There are many drawbacks tomotorized locomotion devices. For example, the motorized locomotiondevices are usually complex and expensive because of the rolling andmotorized components, sensors, processing units, and feedback loops. Inaddition, complex algorithms are required for the rolling and motorizedcomponents to properly counter the movements of the user. Inaccuratefeedback to the motor can result in erroneous movement of the belts orrollers that may cause the user to lose balance or drift away from thecenter of the platform. There may also be issues with latency offeedback and response when the user accelerates, causing incorrectmovements or responses that are too slow, potentially allowing the userwalk off the platform. Further, because the response movements of thebelts or rollers counteract the user's movements, the user may be proneto lose balance and trip.

In addition to issues with the operation of motorized locomotiondevices, such devices are usually large and bulky, and thus, do not fitin the average-sized residential room (e.g., a game room, living room,or bedroom) and can be difficult to break up into modular pieces forshipping and storage. The devices are necessarily large, to prevent theuser from walking off the platform before the correct system responsehas been processed; thus, rendering the devices unsuitable for in-homeconsumer usage.

Non-motorized locomotion devices lack motorized components and rely onthe user's movement and/or gravity to bring the user back to the centerof the platform after each step. Omni-directional ball bearingplatforms, for example, have hundreds of ball bearings that allow theuser to walk in place while a restraint around the user's waist keepsthe user in place. A major issue with omni-directional ball bearingplatforms is that the user does not experience a natural gait with aheel-toe strike movement, but rather instability similar to that ofwalking on ice. The instability results in the shuffling of feet whereneither heel nor toe lift off the device, resulting in an unnaturalwalking gait that reduces the immersion of the user in the virtualenvironment. Moreover, these devices are typically heavy and expensivedue to the plurality of rolling components.

Another non-motorized locomotion device is a saucer-like device with asmooth, upward facing concave surface. The user typically wears specialshoes and then “walks” on the slick concave surface, repeatedly slidinghis/her feet back and forth while his/her body remains primarily in thecenter of the device. Although saucer-like devices are relativelysimple, small, and can fit in a residential room, there are severaldisadvantages. First, the user does not experience a natural gait with aheel-toe strike movement, but rather instability similar to that ofwalking on ice due to the low-friction properties of the concave surfaceand special shoes, which lack any foot-stabilizing elements. Thus, theuser is forced to shuffle his/her feet to help maintain stability asopposed to employing a natural stepping motion. Further, there is nosafety mechanism or device to prevent the user from falling during use.

Another non-motorized locomotion device is a large hollow spherical ballapproximately 10 feet in diameter. The user enters the ball through areplaceable panel and walks within the ball as the ball rotates aboutits center relative to the surrounding environment. The ball device alsohas several issues. First, it is difficult and unnatural to start andstop movement of the ball, which may result in user instability.Further, because the size of the ball is necessarily constrained, thewalking area is not planar, which also results in a less natural walkingexperience. In addition to the ball device being too large to fit in aresidential room, such commercially available balls are alsocost-prohibitive for household consumers.

Accordingly, there remains a need for locomotion devices that allowusers to safely access virtual environments in the privacy of the user'shome and while providing the sensation of a more natural walking gait.

BRIEF SUMMARY OF THE DISCLOSURE

The embodiments described herein are generally directed to a locomotionsystem for use with a virtual environment technology comprising aplatform configured to support a user, a harness support assemblycoupled to the platform and extending upwardly from the platform,wherein the harness support assembly includes a support halo positionedabove the platform and extending about a vertical central axis, and asafety harness configured to be worn by the user. The safety harnessincludes an interface structure moveably coupled to the support halo.

In an embodiment, a locomotion system for use with a virtual environmenttechnology comprises a platform configured to support a user, a harnesssupport assembly coupled to the platform and extending upwardly from theplatform, wherein the harness support assembly includes a support halopositioned above the platform and extending about a vertical centralaxis, and a safety harness including a belt configured to be worn by theuser, an interface structure coupled to the belt, and a vertical membercoupled to the belt. The interface structure slidingly engages an uppersurface of the support halo, and the vertical member is disposed withinthe support halo and is configured to limit the radial movement of theinterface structure relative to the support halo.

In an embodiment, a virtual reality system comprises a locomotion systemincluding a platform configured to support a user, a harness supportassembly coupled to the platform, and a safety harness configured to beworn by the user. The harness support assembly includes a support halopositioned above the platform and extending about a vertical centralaxis, and wherein the safety harness is configured to move relative tothe support halo. The virtual reality system further comprises aprocessing unit, a motion sensing device in communication with theprocessing unit and configured to detect and track the motion of theuser, a visual display in communication with the processing unit, and acontroller configured to be held by the user.

Embodiments described herein comprise a combination of features andadvantages intended to address various shortcomings associated withcertain prior devices, systems, and methods. The foregoing has outlinedrather broadly the features and technical advantages of the invention inorder that the detailed description of the invention that follows may bebetter understood. The various characteristics described above, as wellas other features, will be readily apparent to those skilled in the artupon reading the following detailed description, and by referring to theaccompanying drawings. It should be appreciated by those skilled in theart that the conception and the specific embodiments disclosed may bereadily utilized as a basis for modifying or designing other structuresfor carrying out the same purposes of the invention. It should also berealized by those skilled in the art that such equivalent constructionsdo not depart from the spirit and scope of the invention as set forth inthe appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For a detailed description of the preferred embodiments of theinvention, reference will now be made to the accompanying drawings inwhich:

FIG. 1 is a top view of an embodiment of a locomotion system inaccordance with the principles described herein;

FIG. 2 is a perspective exploded view of the locomotion platform of FIG.1;

FIG. 3a is a perspective view of a section of the locomotion platform ofFIG. 1;

FIG. 3b is a perspective view of a section of the locomotion platform ofFIG. 1;

FIG. 4a is a side view of a section of the locomotion platform of FIG.1;

FIG. 4b is a side view of an alternative embodiment of a section of alocomotion platform in accordance with the principles described herein;

FIG. 5a is a cross-sectional end view of the channels and ridgesextending along the top surface of the section of FIG. 3 a;

FIGS. 5b-5d are cross-sectional end views of alternative embodiments ofchannels and ridges that can be provided in the top surface of thesections of locomotion platforms in accordance with the principlesdescribed herein;

FIG. 6a is a side view of an embodiment of a safety device in accordancewith the principles described herein for use with the locomotionplatform of FIG. 1;

FIG. 6b is a top view of the safety device of FIG. 6 a;

FIG. 7 is a perspective view of an embodiment of a foot covering inaccordance with the principles described herein for use with thelocomotion platform of FIG. 1;

FIG. 8 is a bottom view of the foot covering of FIG. 7;

FIG. 9 is a perspective view of the foot covering of FIG. 7 and aportion of the locomotion platform of FIG. 1;

FIG. 10 is a perspective view of an embodiment of a locomotion system inaccordance with the principles described herein;

FIG. 11 is a perspective view of a center zone and a section of thelocomotion platform of FIG. 31;

FIG. 12a is a perspective front view of a section of the locomotionplatform of FIG. 31;

FIG. 12b is a perspective rear view of a section of the locomotionplatform of FIG. 31;

FIG. 13a is a side view of a section of the locomotion platform of FIG.31;

FIG. 13b is a side view of an alternative embodiment of a section of alocomotion platform in accordance with the principles described herein;

FIG. 14 is a top view of a platform connection structure and a base ofthe locomotion platform of FIG. 31;

FIG. 15 is a perspective view of a portion of the platform connectionstructure of FIG. 35;

FIG. 16 is a perspective partial view of the platform connectionstructure of FIG. 35;

FIG. 17a is a perspective partial view of locomotion platform of FIG.31;

FIG. 17b is an enlarged perspective partial view of the locomotionplatform of FIG. 38 a;

FIG. 18 is a perspective view of a portion of the base of FIG. 35;

FIG. 19 is a top view of the system of FIG. 31;

FIG. 20 is an enlarged perspective view of the support ring oflocomotion system of FIG. 31;

FIG. 21 is a perspective partial view of the support ring of FIG. 41;

FIG. 22 is a perspective view of the safety harness of the locomotionsystem of FIG. 31;

FIG. 23 is a perspective view of an embodiment of a foot covering inaccordance with the principles described herein for use with embodimentsof locomotion platforms described herein;

FIG. 24 is a schematic view of a virtual reality system for use with thelocomotion system of FIG. 31;

FIG. 25 is a schematic view of an embodiment of a safety harness supportstructure and locomotion system in accordance with the principlesdescribed herein;

FIG. 26 is a schematic view of an embodiment of a safety harness supportstructure and locomotion system in accordance with the principlesdescribed herein;

FIG. 27 is a schematic view of an embodiment of a safety harness supportstructure in accordance with the principles described herein for usewith locomotion systems described herein;

FIG. 28 is a schematic view of an embodiment of a safety harness inaccordance with the principles described herein for use with locomotionsystems described herein;

FIGS. 29a-29q are schematic cross-sectional views of differentembodiments of safety harnesses and a support ring in accordance withthe principles described herein for use with locomotion systemsdescribed herein;

FIG. 30 is a schematic top view of an embodiment of a safety harness inaccordance with the principles described herein for use with locomotionsystems described herein; and

FIG. 31 is a schematic cross-sectional side view of an embodiment of asafety harness and a support ring in accordance with the principlesdescribed herein for use with locomotion systems described herein.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following discussion is directed to various exemplary embodiments.However, one skilled in the art will understand that the examplesdisclosed herein have broad application, and that the discussion of anyembodiment is meant only to be exemplary of that embodiment, and notintended to suggest that the scope of the disclosure, including theclaims, is limited to that embodiment.

Certain terms are used throughout the following description and claimsto refer to particular features or components. As one skilled in the artwill appreciate, different persons may refer to the same feature orcomponent by different names. This document does not intend todistinguish between components or features that differ in name but notfunction. The drawing figures are not necessarily to scale. Certainfeatures and components herein may be shown exaggerated in scale or insomewhat schematic form and some details of conventional elements maynot be shown in interest of clarity and conciseness.

In the following discussion and in the claims, the terms “including” and“comprising” are used in an open-ended fashion, and thus should beinterpreted to mean “including, but not limited to . . . .” Also, theterm “couple” or “couples” is intended to mean either an indirect ordirect connection. Thus, if a first device couples to a second device,that connection may be through a direct connection, or through anindirect connection via other devices, components, and connections. Asanother example, two components that contact each other or slidinglyengage each other would be coupled. In addition, as used herein, theterms “axial” and “axially” generally mean along or parallel to acentral axis (e.g., central axis of a body or a port), while the terms“radial” and “radially” generally mean perpendicular to the centralaxis. For instance, an axial distance refers to a distance measuredalong or parallel to the central axis, and a radial distance means adistance measured perpendicular to the central axis.

The locomotion device and system disclosed herein employs a platform, asafety assembly, and variable-friction foot coverings that are intendedto address certain shortcomings associated with previous locomotiondevices. The locomotion device allows the user to use his/her naturalgait while exercising freedom of movement in the physical world thattranslates to movement in a virtual environment.

Referring now to FIG. 1, an embodiment of a locomotion system 10 inaccordance with the principles described herein is shown. In thisembodiment, locomotion system 10 includes a base or platform 100, asafety assembly 200 coupled to platform 100, and variable-friction shoesor foot coverings 300. As will be described in more detail below, theuser of system 10 stands and moves on platform 100 using shoes 300,while safety assembly 200 provides a means to protect the user duringuse of system 100.

Referring now to FIGS. 2 and 3 a, in this embodiment, platform 100 has avertical central axis 105 and includes eight circumferentially adjacentgenerally triangular sections 110. Each platform section 110 has aplanar bottom or lower surface 120, a planar back face 130, a planarleft side face 140, and a planar right side face 150, and a top or uppersurface 160. Faces 130, 140, 150 extend perpendicularly upward fromlower surface 120, however, as will be described in more detail below,an inner portion of upper surface 160 is oriented parallel to lowersurface 120 and an outer portion of upper surface 160 is oriented at anacute angle relative to lower surface 120. Platform sections 110 arearranged circumferentially adjacent one another such that the entiretyof each left face 140 abuts the entirety of a right face 150 of anadjacent section 110. Since each platform section 110 is identical inthis embodiment, platform 100 is a regular polygon—having all sides thesame length that are symmetrically placed about a common central point.In particular, since eight sections 110 are provided in this embodiment,when all platform sections 110 are properly aligned, platform 100 formsan octagon shape. However, in other embodiments, different numbers ofplatform sections (e.g., sections 110) may be provided, resulting indifferent geometries for platform 100. For example, a platform havingsix circumferentially adjacent sections will have a hexagonal shape.Platform 100 preferably has a diameter or maximum horizontal widthbetween 3.0 and 6.0 feet, and more preferably between 3.5 and 4.5 feet.

Referring now to FIGS. 3a and 3b , each platform section 110 includes acenter zone 170, a plurality of channels or grooves 180, a through hole190, and a coupling mechanism 135. Sections 110 each have a length L₁₁₀(measured horizontally from an inner edge 175 at axis 105 to back face130) preferably between 18.0 and 34.0 inches, a width W₁₁₀ (as measuredhorizontally along back face 130 between the left and right side faces140, 150) preferably between 16.0 and 30.0 inches, and a height H₁₁₀ (asmeasured vertically between the top and bottom faces 160, 120,respectively, along the back face 130) preferably between 2.0 and 12.0inches. Each section 110 is constructed from a single material that hasa low coefficient of friction, such as high density polyethylene, lowdensity polyethylene, polyvinyl chloride, polypropylene, or any othersuitable material with a low coefficient of friction.

Bottom face 120 lies in a plane, and is triangular with outer end points120 a, 120 b that are equidistant from inner end point 120 c. Whendescribing the individual sections 110 of platform 100, the terms“inner” and “outer” are used in reference to the assembled platform 100as shown in FIG. 1 where the outer edges of the platform 100 coincidewith the back face 130 of each section 110 and the center of platform100 coincides with the inner edge 175 of each section 110, which iscoaxial with central axis 105. Inner edge 175 comprises an upper end 175a and a lower end 175 b. Inner end point 120 c of the bottom face 120 iscoincident with central axis 105 and lower end 175 b of inner edge 175.

Back face 130 lies in a plane oriented perpendicular to bottom face 120,extends from bottom face 120 axially upward to upper surface 160, andhas upper edge 130 a, lower edge 130 b, left edge 130 c, and right edge130 d. The left and right side faces 140, 150, also orientedperpendicular to bottom face 120, extend from left and right edges 130c, 130 d of back face 130 and terminate at inner edge 175. In thepresent embodiment, the angle A₁₄₅ between the left and right side faces140, 150 is 45 degrees. It should be appreciated that angle A₁₄₅ isdependent upon the number of sections 110 used to form platform 100. Forexample, as previously discussed, in an embodiment, platform 100 may bemade up of six sections 110, then angle A₁₄₅ would be 60 degrees. Inanother embodiment, platform 100 may be made up of nine sections 110with an angle A₁₄₅ of 40 degrees.

Referring now to FIGS. 3a, 3b, and 4a , top surface 160 includes acenter zone 170 and an angled portion 161. Center zone 170 comprises topface 170 a; edge 170 b, which is parallel to back face 130; and upperend point 175 a of inner edge 175, which are coincident with axis 105.The triangular center zone top face 170 a lies in a plane orientedparallel to bottom face 120. Center zone 170 has a length L₁₇₀ (asmeasured horizontally between edge 170 b and upper end point 175 a)preferably between 5.0 and 10.0 inches, a width W₁₇₀ (as measured alongedge 170 b between the left and right side faces 140, 150) preferablybetween 4.0 and 8.0 inches, and a height H₁₇₀ (as measured verticallybetween the center zone top face 170 a and bottom face 120 along inneredge 175) preferably between 0.25 and 2.0 inches. Though shown in thepresent embodiment parallel to bottom face 120, triangular center zonetop face 170 a may be curved such that upper end point 175 a is disposedaxially lower along axis 105 than edge 170 b. In this alternativeembodiment, edge 170 b extends radially toward inner edge 175 andaxially downward toward upper end point 175 a while bulging downwardtoward bottom face 120.

As best shown in FIGS. 3b and 4a , angled portion 161 of top surface 160includes top face 161 a; back edge 161 b, which is coincident with backface edge 130 a; and front edge 161 c, which is coincident with centerzone edge 170 b and parallel to back face 130. Top face 161 a lies in aplane and extends from outer edge 130 a, 161 b radially and axiallydownward toward edge 161 c, 170 b such that the angle A₁₆₀ between theplane defined by top face 161 a and the plane defined by center zone topface 170 a is preferable between 5.0 and 18.0 degrees. In an alternativeembodiment, shown in FIG. 4b , angled portion 161 of top surface 160comprises top face 162 a, back edge 162 b, which is coincident with backface edge 130 a; and front edge 162 c, which is coincident with centerzone edge 170 b and parallel to back face 130. Top face 162 a defines acurved surface that extends from outer edge 162 b radially toward inneredge 170 b and axially downward toward center zone top face 170 a whilebulging downward toward bottom face 120.

Referring again to FIGS. 3a and 3b , angled portion 161 also includes aplurality of channels or grooves 180 and ridges 185 that extend radiallyfrom back face 130 to edge 170 b. As best shown in FIG. 5a , eachchannel 180 has a left interior edge 180 a, a right interior edge 180 b,and a bottom interior edge 180 c. Left edge 180 a is parallel to rightedge 180 b, and in this embodiment, both left and right edges 180 a, 180b are orthogonal to bottom edge 180 c. Each channel 180 has a width W₁₈₀preferably between 0.20 and 1.0 inch and a depth D₁₈₀ preferably between0.05 and 1 inch.

Referring still to FIG. 5a , each ridge 185 comprises a left exterioredge 185 b, a right exterior edge 185 a, and a top exterior edge 185 c.Left exterior edge 185 b is coincident with right interior edge 180 b ofchannel 180 and is parallel to right exterior edge 185 a, which iscoincident with left interior edge 180 a of channel 180. Both left andright exterior edges 185 b, 185 a are orthogonal to top exterior edge185 c. Each channel 180 has a height H₁₈₅ preferably between 0.05 and 1inch. However, the width, as will be discussed below in further detail,will vary depending on the quantity and size of the channels 180.

In the embodiment shown in FIG. 5a , the lower corners 180 d where theleft and right edges 180 a, 180 b connect to the bottom edge 180 c arerounded, and the upper corners 180 e of channel 180 where the left andright edges 180 a, 180 b connect to the top surface 160 of section 110are rounded. The horizontal length L_(180e) of the curved portion of thecorner 180 e (as measured from the right edge 180 b to the flat portionof top surface 160) can be increased or decreased as desired.

Referring now to FIGS. 5b and 5c , and using similar nomenclature forthe left (181 a, 182 a), right (181 b, 182 b), bottom interior edges(181 c, 182 c), and lower (181 d, 182 d) and upper corners (181 e, 182e), the horizontal length L_(181e), L_(182e) of the curved portion ofthe upper corner 181 e, 182 e (as measured from the left edge 181 a, 182a to the flat portion of top surface 160) can be increased or decreasedas desired. For example, the curved length L_(181e) of the embodimentshown in FIG. 5b is less than the curved length L_(182e) of theembodiment shown in FIG. 5 c.

Referring now to FIG. 5d , in another embodiment, the bottom interioredge 183 c forms a semicircle with a diameter equal to the horizontaldistance between the left and right edges 183 a, 183 b. Corners 180 dcan, thus, vary from having ninety degree angles (between left and rightedges 180 a, 180 b and bottom edge 180 c), rounded ninety degree anglesas shown in FIG. 5a , to having angles greater than ninety degrees butless than 180 degrees.

The foregoing discussion is directed to the geometry of the grooves 180and ridges 185 at the back face 130 of platform section 110. However,the height H₁₈₅ of the ridges 185 begins to taper (i.e., decrease) asthe grooves 180 and ridges extend toward center zone 170. Ridge heightH₁₈₅ becomes gradually shorter until the top edge 185 c of ridge 185connects to center zone top face 170 a at center zone inner edge 170 b.The geometry and dimensions of the channels or grooves 180 remainsunchanged as the ridges 185 diminish in height.

Each section 110 preferably comprises 16-18 channels 180; however, ingeneral, the number of channels 180 can vary depending on the dimensionsof each section 110 including the center zone 170 and the width W₁₈₀ ofeach channel 180. Similarly, the quantity of ridges 185 will also varydepending on the quantity and dimensions of the channels 180 as well asthe dimensions of each section 110. In the embodiment shown in FIG. 3a ,section 110 has a length L₁₁₀ of 24.0 inches and 17 channels 180 thatmay be 0.20 to 0.375 inch wide and spaced approximately 0.79 to 0.97inch apart; thus, the 16 ridges 185 may be 0.79 to 0.97 inch wide.

In another embodiment, the width W₁₈₀ of the channels 180 may varybetween outer edge 130 a and center zone 170. For example, the width ofa channel 180 may be greater at outer edge 130 a than at center zoneedge 170 b. In yet another embodiment, the depth D₁₈₀ of channels 180may be less than 0.5 inch and the width W₁₈₀ of the channels 180 may beless than 0.2 inch, allowing each section 110 to comprise more than 18channels 180 such that the ridges 185 form soft raised ribs on the uppersurface 160 of each section 110.

Referring now to FIG. 3b , vertical through hole 190, having centralaxis 195 parallel to central axis 105, includes a curved side wall 190 aand a planar side wall 190 d connected at end points 190 b, 190 c toform a through hole with a semicircle shaped cross section that extendsfrom top surface 160 downward to bottom face 120. Through hole 190 isdisposed proximal to left edge 130 c of back face 13—approximatelyequidistant to back face 130 and left face 140—and with axis 195oriented parallel to axis 105, back face 130, and left face 140. In thepresent embodiment, through hole 190 is oriented such that planar sidewall 190 d is orthogonal to left side wall 140 of platform section 110.Through hole 190 also has a diameter D₁₉₀ (shown in FIG. 3a ) preferablybetween 0.8 and 1.25 inches (as measured between end points 190 b, 190c) that is preferably 0.5 to 2.0 inches away from back face 130 and leftface 140.

Through hole 190 may be located anywhere along and proximal to back face130, including for example but not limited to proximal to right face 150or equidistant between left and right faces 140, 150. Though shown inthe present embodiment as a semicircle, through hole 190 may be of anyshape including but not limited to a circle, ellipse, square, rectangle,or polygon. Further, through hole 190 may be oriented or rotated invarious ways, for example, the semicircle shape may be rotated in placeto change the location of the curved side wall 190 a. In addition,central axis 195 of through bore 190 may be oriented at an angle eithertoward or away from central axis 105 of platform 100 at an anglepreferably between 0.1 and 45.0 degrees. Further, as shown in FIG. 1,through hole 190 is disposed on alternating section 110 of platform 100,such that half the section 110 do not include a through hole 190.However, in another embodiment, through hole 190 may be disposed onevery section 110.

Referring now to FIGS. 3a and 3b , each coupling mechanism 135 includesa fastener 134 with four through holes 133 and two receptacles orcutouts 136 a, 136 b with four boreholes 138. Each generally rectangularconnector receptacle or cutout 136 a, 136 b is disposed on back face130. One receptacle 136 a is disposed proximal to left side 140 and onereceptacle 136 b is disposed proximal to right side 150. Bothreceptacles or cutouts 136 a, 136 b are disposed approximately halfwaybetween top surface 160 and bottom face 120 and extend from side face140, 150 to inner cutout edge 137 b and axially extend along centralaxis 105 from upper cutout edge 137 c down to lower cutout edge 137 d.Back face 137 a of cutouts 136 a, 136 b defines a plane that is parallelto the plane defined by back section face 130. Each cutout 136 a, 136 bhas a height preferably between 0.5 and 2.2 inches, length preferablybetween 1.0 and 3.7 inches, and depth preferably between 0.1 and 1.0inches. In an alternative embodiment, cutouts 136 a, 136 b need not beused and, instead, coupling mechanism 135 comprises fasteners 134 withthrough holes 133 that correspond to boreholes 138 and are secured withscrews 132.

Referring now to FIG. 3b , each cutout 136 a, 136 b further comprisestwo boreholes 138 disposed orthogonal to and extending from back cutoutface 137 a. In the present embodiment, boreholes 138 are spacedequidistant between inside cutout edge 137 b and platform section sideface 140, 150 as well as equidistant between upper and lower cutoutedges 137 c, 137 d. In another embodiment, boreholes 138 may bestaggered between upper and lower cutout edges 137 c, 137 d to form adiagonal pattern. Each borehole 138 has a diameter preferably between0.05 and 0.25 and a depth preferably between 0.1 and 1.0 inch.

Referring now to FIG. 3a , each connector or fastener 134 has a firstrectangular side 134 a releasably secured to platform section 110 and asecond rectangular side 134 b extending outward from first rectangularside 134 a and left face 140, with the second side 134 b not connectedto a platform section 110. In the present embodiment, second side 134 bwould connect to cutout 136 b disposed proximal to the right side 150 ofan adjacent platform section 110 (not shown in FIG. 3a ). First andsecond rectangular sides 134 a, 134 b are symmetrical about an axisdefined by left edge 130 c of back face 130. The angle between the planedefined by first side 134 a and the plane defined by second side 134 bis dependent on the number of platform sections 110 and is preferablybetween 120.0 and 150.0 degrees, and more preferably 135.0 degrees. Eachconnector side 134 a, 134 b has a height preferably between 0.25 and 2.0inches, length preferably between 0.75 and 3.5 inches, and thicknesspreferably between 0.05 and 1.0 inch.

Each connector 134 further comprises four through holes 133 that alignwith bore holes 138 when connector 134 is placed in cutouts 136 a, 136b. Connectors 134 may be employed as a standalone connector or inconjunction with any suitable fastener standard in the art, includingbut not limited to a bracket, latch, drawbolt, hinge, or clip. Whetherused standalone or with other fasteners, connectors 134 are releasablysecured to boreholes 138 in platform sections 110 with screws 132 orother suitable fasteners standard in the art; thus, securing adjacentplatform sections 110 together. Though shown in FIGS. 3a and 3b asrectangular, cutouts 136 a, 136 b may be any suitable shape, includingbut not limited to circular, elliptical, square, semi-circular, orpolygonal.

Referring now to FIGS. 6a and 6b , in this embodiment, safety assembly200 includes a vertical member 210 with central axis 205, a pair ofhorizontal bars 220, 221 pivotally connected to vertical member 210, apair of support bars 230, 231 pivotally connected to horizontal bars220, 221 and slidingly connected to vertical member 210. Vertical member210 is a bar with a top end 210 a and a bottom end 210 b, and has asemicircle cross section configured to mate and slidingly engage hole190. Vertical member 210 has a height H₂₁₀ preferably between 24.0 and48.0 inches, and more preferably between 30.0 and 42.0 inches, and adiameter or width (for non-circular shaped vertical member 210)preferably between ¾ and 1 inch.

Vertical member 210 also includes a first and second slot 215 a, 215 bwith top slot end 210 c disposed proximal to top end 210 a and extendingdownward to bottom slot end 210 d. First slot 215 a is disposed at angleA₂₁₅ about central axis 205 from the second slot 215 b. Angle A₂₁₅ isdependent on the number of platform section 110 and preferably between120 and 150 degrees, and more preferably 135 degrees. Each slot 215 a,215 b further comprises a lip (not shown) such that the opening ofrecessed strips 215 a, 215 b is narrower than the interior of recessedstrips 215 a, 215 b. Vertical member 210 may be made of any suitablematerial known in the art, including but not limited to metals orpolymers.

Referring now to FIG. 6b , horizontal bars 220, 221 comprise an outsideend 220 a, 221 a, respectively, an inside end 220 b, 221 b,respectively, and a support bar connection point 220 c, 221 c,respectively. In this embodiment, horizontal bars 220, 221 have asemicircle cross section; a length L₂₂₀, L₂₂₁ preferably between 15.0and 28.0 inches, and more preferably between 18.0 and 24.0 inches; and adiameter or width (for non-circular shaped horizontal bars 220, 221)preferably between ¾ and 1 inch. Horizontal bars 220, 221 are pivotallyconnected to vertical member 210 at inside end 220 b, 221 b. In general,horizontal bars 220, 221 can be pivotally connected to vertical member210 with a hinge, pin, or other suitable connector that allowshorizontal bars 220, 221 to pivot at inside end 220 b, 221 b. Horizontalbars 220, 221 may be made of any suitable material known in the art,including but not limited to metals or polymers, but are preferably madeof a metal or polymer bar that is covered with a shock-absorbingpolymer, such as rubber.

Referring again to FIGS. 6a and 6b , support bars 230, 231 comprise afirst end 230 a, 231 a and a second end 230 b, 231 b. In thisembodiment, support bars 230, 231 have a circular cross section; alength L₂₃₀, L₂₃₁, respectively, preferably between 6.0 and 24.0 inches,and more preferably between 12.0 and 18.0 inches; and a diameterpreferably between 0.5 and 1 inch. Support bars 230, 231 are pivotallyconnected to horizontal bars 220, 221, respectively, at first ends 230a, 231 a, respectively. In general, support bars 230, 231 may bepivotally connected to horizontal bars 220, 221 with a hinge, pin, orother suitable connector that allows support bars 230, 231 to pivot atfirst end 230 a, 231 a. Support bars 230, 231 are slidingly connected tovertical member 210 at second ends 230 b, 231 b, respectively, which areretained in slots 215 a, 215 b, respectively, with protrusions or pinsthat are retained by the lip of slot 215 a, 215 b. Support bars 230, 231may be made of any suitable material known in the art, including but notlimited to metals or polymers.

A release button (not shown) is preferably provided on vertical member210 proximal to top recess end 210 c of vertical member 210. A couplingmechanism (not shown) is preferably provided on safety assembly 200 towork in conjunction with the release button. The release button andcoupling mechanism may be made of any suitable material known in theart, including but not limited to metals or polymers.

Though safety system 200 is shown in the present embodiment as groupingsof interconnected bars, safety system 200 may comprise any suitablesystem known in the art that helps prevent injury to the user fromfalling during usage of the locomotion system 10. For example, in otherembodiments, safety system 200 may comprise a harness worn by the userand mounted to a stationary object.

In an unactuated state, horizontal bars 220, 221 and support bars 230,231 are collapsed or folded down on approximately either side ofvertical member 210. Second end 230 b, 231 b of each support bar 230,231 is disposed proximal to bottom recess end 210 d of vertical member210. To actuate the horizontal bars 220, 221, the second end 230 b, 231b of support bars 230, 231 slides axially upward along axis 205 withinrecess strip 215 a, 215 b until second end 230 b, 231 b engages thecoupling mechanism. The upward movement of second end 230 b, 231 braises horizontal bars 220, 221 from a vertical or subvertical positionby pivoting at both the support bar 230, 231 connection (second end 230b, 231 b) to horizontal bar 220, 221 and the horizontal bar connection(inside end 220 b, 221 b) to vertical member 210 to bring horizontalbars 220, 221 to a horizontal or near horizontal position. In theactuated state, horizontal bars 220, 221 are disposed orthogonal tocentral axis 205. In another embodiment, horizontal bars 220, 221 may bedisposed at an angle that is greater than or less than 90 degrees fromcentral axis 205.

Horizontal bars 220, 221 may be lowered by actuating the release button;thus, allowing the support bars 230, 231 to slide downward withinrecessed strips 215 a, 215 b along central axis 205. The downwardmovement of second end 230 b, 231 b lowers horizontal bars 220, 221 froma horizontal or subhorizontal position by pivoting at both the supportbar 230, 231 connection (second end 230 b, 231 b) to horizontal bar 220,221 and the horizontal bar connection (inside end 220 b, 221 b) tovertical member 210 to bring horizontal bars 220, 221 to a vertical ornear vertical position.

Referring to FIGS. 7 and 8, an embodiment of a foot covering 300 for usewith embodiments of platforms described herein is shown. In thisembodiment, foot coverings 300 comprise an upper portion 310, a pair ofclosure straps 320, a sole 330, a plurality of variable friction pads340-360, 380-385, and an anchor pin 390. As used herein, the term “footcovering” refers to a shoe or an overshoe. An overshoe is a footcovering that at least partially covers the wearer's shoe and generallyincludes a sole and a means to attach the sole to the wearer's shoe orbody (e.g., foot, ankle, or leg). Further, when used to describe footcovering 300, the terms “top” or “bottom” may be used for purposes ofdescription with “up,” “upper,” “upward,” or “above” meaning generallytoward or closer to the end of foot covering 300 closest to the toe 301,and with “down,” “lower,” “downward,” or “below” meaning generallytoward or closer to the end of foot covering 300 closest to the heel302. The overall length and width of foot covering 300 will varydepending on the size of the wearer's foot; thus, foot covering 300 maybe customized to fit any sized foot.

Upper portion 310 of foot covering 300 generally covers a portion of orthe entire upper part of the wearer's foot. In the present embodiment,upper portion 310 covers the toe 301, heel 302, and sides 303, 304 ofthe wearer's foot. Upper portion 310 may be made of any suitablematerial known in the art, including but not limited to fabric, leather,or other suitable material known in the art.

Referring now to FIG. 7, closure straps 320 and retainers 325 aredisposed on opposite sides of upper portion 310. Closure straps 320 havea width preferably between 0.5 and 2.0 inches and length preferablybetween 6.0 and 12.0 inches long. Closure straps 320 extend over the topof the wearer's foot to retainer 325 disposed on opposite upper portion310 side in which closure strap 320 originated. In this embodiment,retainer 325 comprises a slot through which closure strap 320 isthreaded, allowing closure strap 320 to fold over itself and extend backtoward upper portion 310 side in which closure strap 320 originated;hook and loop closures may be used on adjacent surfaces of closurestraps 320 to secure closure straps 320. However, in general, othersuitable retention mechanisms known in the art including, withoutlimitation, a hook and loop fastener, buckle, button, snap, elasticclosure, or shoelaces can be employed.

Referring again to FIGS. 7 and 8, sole 330 of foot covering 300 coversthe underside of the wearer's foot and connects to upper portion 310along the entire perimeter of the wearer's foot. In this embodiment,upper portion 310 and sole comprise one continuous piece of material.

Sole 330 comprises three sections—a forefoot 335, a midfoot 365, and ahindfoot 375. Forefoot section 335 includes toe friction pad 340 and afirst, second, and third forefoot pad 350, 355, 360, respectively. Toefriction pad 340 is disposed on the bottom of sole 330 proximal to thetoe 301 or the “top” of sole 330. Toe friction pad 340 extends from thetop of toe 301 downward toward heel 302 preferably between 0.5 and 1.5inches and from one side 303 across the entire width of sole 330 to theother side 304. First friction pad 350 is disposed on sole 330 below andproximal to toe friction pad 340 and extends downward toward heel 302preferably between 1.0 and 3.0 inches and from one side 303 across theentire width of sole 330 to the other side 304. Second friction pad 355is disposed on sole 330 below and proximal to first friction pad 350 andextends downward toward heel 302 preferably between 1.0 and 3.0 inchesand from proximal to one side 303 across the entire width of sole 330proximal to the other side 304. Third friction pad 360 is disposed onsole 330 below and proximal to second friction pad 355 and extendsdownward toward heel 302 preferably between 1.0 and 3.0 inches and fromproximal to one side 303 across the entire width of sole 330 proximal tothe other side 304. Though shown in the present embodiment with fourfriction pads 340, 350, 355, 360, in other embodiments, forefoot section335 may comprise three or fewer friction pads of varying sizes. In yetother embodiments, forefoot section 335 may comprise five or morefriction pads of varying sizes.

Still referring to FIG. 8, midfoot section 365 comprises the portion ofthe shoe covering 300 that supports the arch of the wearer's foot. Asshown in FIG. 8, in this embodiment, midfoot section 365 does notcomprise any friction pads. However, in other embodiments, midfootsection 365 may comprise one or more friction pads of varying sizes.

Hindfoot section 375 comprises heel friction pad 345 and a fourth andfifth hindfoot pad 380, 385, respectively. Heel friction pad 345 isdisposed on the bottom of sole 330 proximal to the heel 302 or the lowerend of sole 330. Heel friction pad 345 extends from the bottom of heel302 upward toward toe 301 preferably between 0.5 and 1.5 inches and fromone side 303 across the entire width of sole 330 to the other side 304.Fourth friction pad 380 is disposed on sole 330 above and proximal toheel friction pad 345 and extends upward toward toe 301 preferablybetween 1.0 and 3.0 inches and from one side 303 across the entire widthof sole 330 to the other side 304. Fifth friction pad 385 is disposed onsole 330 above and proximal to fourth friction pad 380 and extendsupward toward toe 301 preferably between 1.0 and 3.0 inches and fromproximal to one side 303 across the entire width of sole 330 proximal tothe other side 304. Though shown in the present embodiment with threefriction pads 345, 380, 385, in other embodiments, hindfoot section 375may comprise two or fewer friction pads of varying sizes. In yet otherembodiments, hindfoot section 375 may comprise four or more frictionpads of varying sizes.

All friction pads 340, 345, 350, 355, 360, 380, 385 have a thicknesspreferably between 0.1 and 1.0 inch. Though friction pads 340-360,380-385 are shown in the present embodiment as extending from one side303 across the entire width of sole 330 to the other side 304, in otherembodiments friction pads 340-360, 380-385 may extend across only aportion of sole 330 between sides 303, 304. Friction pads 340-360,380-385 may be made of any suitable material known in the art including,but not limited to, polymers, ceramics, rubber, fabric, fiber glass, orfur. Friction pads 340-360, 380-385 are preferably made of polyethyleneor polytetrafluoroethylene, and more preferably made of high densitypolyethylene. In another embodiment, sole 330 may comprise a layer offur instead of friction pads.

Referring now to FIGS. 8 and 9, shoe covering 300 further comprises ananchor pin 390 extending from the bottom surface of third friction pad360 proximal to midfoot section 365. Anchor pin 390 has a diameterpreferably less than ½ inch, and more preferably less than ¼ inch.Anchor pin 390 extends from third friction pad 360 away from sole 330orthogonal from the plane defined by third friction pad 360 less than1.0 inch, and more preferably between ⅛ and ¾ inch. In anotherembodiment, anchor pin 390 may be disposed on first or second frictionpad 350, 355; on midfoot 365; on fourth or fifth friction pad 380, 385;or in between friction pads 340-360, 380-385. In yet another embodiment,anchor pin 390 may be spring-loaded and disposed in a circular housingsuch that in an unactuated state, the anchor pin 390 protrudes outsidethe housing and when pressure is placed on the anchor pin 390, pin 390retracts into the housing. In yet another embodiment, sole 330 maycomprise a plurality of anchor pins 390 that extend from or betweenvarious friction pads away from sole 330 orthogonal from the planedefined by the friction pad preferably less than 1.0 inch. Anchor pin390 may be made of any suitable material known in the art including, butnot limited to polymers, metals, ceramics, or rubber.

Referring now to FIGS. 3a, 3b, 6a, 6b , the safety assembly 200interfaces with platform 100 at through holes 190. Bottom end 210 b ofvertical member 210 fits in through hole 190. In this embodiment,vertical member 210 has a semicircle cross section sized slightlysmaller than the semicircle-shaped through hole 190 that is cut out ofplatform section 110. The semicircle shape of both the vertical member210 and through hole 190 ensures the safety assembly is installed inonly one orientation and prevents rotation of vertical member 210.Horizontal bar 220, when fully extended upward, is disposed parallel toback face 130 of platform section 110. Horizontal bar 221, when fullyextended upward, is disposed parallel to back face 130 of adjacentplatform section 110.

Referring now to FIGS. 8 and 9, the foot coverings 300 interface withplatform 100 via the anchor pins 390 and friction pads 340-360, 380-385.Anchor pins 390 fit in channels 180, allowing the friction pads 340-360,380-385 to contact the upper surface 160 of platform 100. Because uppersurface 160 is inclined, the friction pads 340-360, 380-385 will slidedownward toward the center zone 170 under the force of gravity. The easeor amount of sliding of the pads 340-360, 380-385 on platform surface160 will depend on the coefficient of friction between the pads 340-360,380-385 and surface 160. The coefficient of friction may vary dependingon the material chosen for both the platform surface 160 and the pads340-360, 380-385. Thus, the material for friction pads may be selectedbased upon the desired coefficient of friction.

Friction pads 340-360, 380-385 are preferably made of a material havinga coefficient of dry friction with platform surface 160 less than orequal 0.40 or a coefficient of lubricated friction with platform surface160 less than or equal to 0.25. Moreover, each friction pad 340-360,380-385 may, but need not have different coefficients of friction.Different coefficients of friction may be attained for differentportions of the overshoe sole 330 by changing the materials of eachfriction pad 340-360, 380-385. Thus, the coefficient of friction of theindividual friction pads 340-360, 380-385 may vary between each frictionpad allowing the toe and heel friction pads 340, 345, for example, tohave a greater coefficient of friction than the interior first, second,third, fourth, and fifth friction pads 350, 355, 360, 380, 385.Increasing the coefficient of friction between the toe and heel frictionpads 340, 345 and the platform surface 160, allows for greater stabilityby reducing the sliding effect when either the heel strikes or the toelifts off the platform surface 160.

The use of a lubricant can further decrease the coefficient of frictionbetween the pads 340-360, 380-385 and platform surface 160. Lubricantsstandard in the art may be used, including but not limited to siliconewipes or oil-based sprays.

To utilize the locomotion system 10, the user dons the foot coverings300 on both feet and steps onto the platform 100. If all the horizontalbars 220, 221 have been actuated or raised to their fully extended andhorizontal position, the user will need to lower two horizontal bars220, 221 whose outside ends 220 a, 221 a are proximal to each other byactuating the release button on each corresponding vertical member 210.The user can then step onto platform 100 and step onto the center zone170. The user then actuates all horizontal bars 220, 221 that are notfully extended and horizontal or subhorizontal by sliding the second end230 b, 231 b of each support bar 230, 231 upward until second end 230 b,231 b engages the coupling mechanism. The user will then employ thevirtual reality device of his/her choice. Once in the virtualenvironment, any movement in the physical world made by the user willtranslate to movement in the virtual world.

The user may exercise freedom of movement while on platform 100. Whenthe user takes a first step with a first leg off the center zone 170 andonto the angled portion 161 of top surface 160, the anchor pin 390 onthe underside of foot covering 300 engages a channel or groove 180 onangled surface 161. As the user takes a second step with his/her secondleg, the force of gravity with the anchor pin 390, which is slightlysmaller in diameter and shorter in length than each channel 180, guidesthe user's first foot down the incline of angled surface 161 towardcenter zone 170. The low coefficient of friction between the footcovering pads 340-360, 380-385 and the platform surface 160 allows thefoot covering to slide on surface 160. The anchor pin 390 on the user'ssecond foot covering 300 then engages a channel 180 and the process isrepeated. The user is thus able to maintain continuous walking motion inthe virtual world while only moving within the perimeter of platform100.

While the user is walking on the locomotion platform 100, the anchor pin390 may not always engage a channel 180 upon initial contact with theplatform 100. When this occurs, the incline of angled surface 161 andthe force of gravity will still cause the foot covering pads 340-360,380-385 to slide downward toward center zone 170. As the foot coverings300 are sliding down angled surface 161, the anchor pin 390 will fallinto a channel 180, further guiding the foot covering toward center zone170. The anchor pin 390 will fall into a channel 180 because the spacebetween the channels 180 is decreasing from the back edge 161 b ofangled surface 161 to center zone 170.

Referring now to FIG. 10, another embodiment of a locomotion system 40in accordance with the principles described herein is shown. In thisembodiment, locomotion system 40 includes a platform 400, a platformconnection structure 500 (shown in FIGS. 14 and 17 a), a base 600, aharness support assembly 700, a safety harness 800, andvariable-friction shoes or foot coverings 900 (shown in FIG. 22).

Referring now to FIG. 11, in this embodiment, platform 400 has avertical central axis 405 and comprises eight circumferentially adjacentgenerally trapezoidal sections 410 disposed about a center section orzone 470. Each section 410 has a planar bottom or lower surface 420, aplanar back face 430 opposite a planar inner face 475, a planar leftside face 440, and a planar right side face 450, and a top or uppersurface 460. Faces 430, 440, 450 extend perpendicularly upward fromlower surface 420, and as will be described in more detail below, anouter portion of upper surface 460 is oriented at an acute anglerelative to lower surface 420. Platform sections 410 are arrangedcircumferentially adjacent one another such that the entirety of eachleft face 440 abuts the entirety of a right face 450 of an adjacentsection 410.

Center zone 470 comprises a top face 470 a opposite a bottom face 470 cand eight equilateral side faces 470 b disposed at equal internal anglesfrom each other. Since center zone 470 is both equilateral andequiangular, center zone 470 is a regular polygon—having all sides thesame length that are symmetrically placed about a common central point.As previously described, platform sections 410 are disposed about centerzone 470 such that the entirety of each inner face 475 abuts theentirety of a side face 470 b of the center zone 470. Since all platformsections 410 are identical in this embodiment, platform 400 is also aregular polygon. Platform 400 preferably has a diameter or maximumhorizontal width between 3.0 and 6.0 feet, and more preferably between3.5 and 4.5 feet.

Because eight sections 110 are provided in this embodiment, when allplatform sections 410 are properly aligned, platform 400 forms anoctagonal shape. However, in other embodiments, different numbers ofplatform sections (e.g., sections 410) may be provided, resulting indifferent geometries for platform 400. For example, a platform havingsix circumferentially adjacent sections will have a hexagonal shape.

Referring now to FIGS. 12a, 12b, 13a, and 13b , each section 410includes a plurality of channels or grooves 480 disposed on uppersurface 460, two channels 490, 491 disposed on bottom surface 420, threeextension loops 443 disposed on left side 440, three tabs 453 disposedon right side 450, and two slots 477 disposed on inner face 475.Sections 410 each have a length L₄₁₀ (measured horizontally from innerface 475 to back face 430) preferably between 12.0 and 18.0 inches; aback width W₄₁₀ (as measured horizontally along back face 430 betweenthe left and right side faces 440, 450, respectively) preferably between16.0 and 21.0 inches; an inner width W₄₇₅ (as measured horizontallyalong inner face 475 between the left and right side faces 440, 450,respectively) preferably between 6.0 and 8.0 inches; a back height H₄₁₀(as measured vertically between the top and bottom faces 460, 420 alongthe back face 430) preferably between 2.0 and 12.0 inches; and an innerheight H₄₇₅ (as measured vertically between the top and bottom faces460, 420 along the inner face 475) preferably between 0.2 and 2.0inches. Each section 410 is constructed from a single material that hasa low coefficient of friction, such as high density polyethylene, lowdensity polyethylene, polyvinyl chloride, polypropylene, or any othersuitable material with a low coefficient of friction.

Referring still to FIGS. 12a and 12b , bottom face 420 lies in a planeperpendicular to central axis 405, is trapezoidal with back face 430parallel to inner face 475. When describing the individual sections 410of platform 400, the terms “inner” and “outer” are used in reference tothe assembled platform 400 as shown in FIG. 10 where the outer edges ofthe platform 400 coincide with the back face 430 of each section 410 andthe center of platform 400 coincides with the center of center zone 470,which is coaxial with central axis 405.

Back face 430 lies in a plane oriented perpendicular to bottom face 420,extends from bottom face 420 axially upward to upper surface 460, andhas upper edge 430 a, lower edge 430 b, left edge 430 c, and right edge430 d. The left and right side faces 440, 450, also orientedperpendicular to bottom face 420, extend from left and right edges 430c, 430 d, respectively, of back face 430 and terminate at inner face475. Inner face 475 has upper edge 475 a and lower edge 475 b. In thepresent embodiment, the angle A₄₄₅ between the left and right side faces440, 450, respectively, is 45 degrees. It should be appreciated thatangle A₄₄₅ is dependent upon the number of sections 410 used to formplatform 400. For example, as previously discussed, in an embodiment,platform 400 may be made up of six sections 410, then angle A₄₄₅ wouldbe 60 degrees. In another embodiment, platform 400 may be made up ofnine sections 410 with an angle A₄₄₅ of 40 degrees.

Referring now to FIGS. 13a and 13b , platform top surface 460 includesback edge 460 b, which is coincident with back face edge 430 a; andfront edge 460 c, which is coincident with inner upper edge 475 a andparallel to back edge 460 b. Top face 460 lies in a plane and extendsfrom outer edge 430 a, 460 b radially inward and axially downward towardinner edge 460 c, 475 a such that the angle A₄₆₀ between the planedefined by top face 460 and the plane defined by center zone top face470 a is preferably between 5.0 and 18.0 degrees. In an alternativeembodiment, shown in FIG. 13b , top surface 460 comprises top face 462a, back edge 462 b, which is coincident with back face edge 430 a; andfront edge 462 c, which is coincident with inner upper edge 475 a andparallel to back edge 460 b. Top face 462 a defines a curved surfacethat extends from outer edge 462 b radially inward and axially downwardtoward inner edge 475 a while bulging downward toward bottom face 420.

Referring now to FIG. 12a , top surface 460 also includes a plurality ofchannels or grooves 480 and ridges 485 that extend radially between backface 430 and inner edge 475. The channels 480 of the present embodimentmay have any geometry previously described or shown in FIGS. 5a -5 d.Like numbers are used to designate like parts. Further, the grooves 480may become more shallow and tapered at the ends proximate the back face430 and the inner face 475. In another embodiment, top surface 460 mayinclude no channels or grooves and instead has a smooth surface.

Each section 410 preferably comprises 16-18 channels 480; however, thequantity of channels 480 will vary depending on the dimensions of eachsection 410 including the center zone 470 and the width of each channel480. Similarly, the quantity of ridges 485 will also vary depending onthe quantity and dimensions of the channels 480 as well as thedimensions of each section 410.

Referring now to FIGS. 12a and 12b , two channels or cutouts, an outerand inner channel 490, 491, respectively, are formed in bottom surface420 and extend between and through the left and right side faces 440,450, respectively. Channels 490, 491 are disposed parallel to each otherand parallel to back and inner faces 430, 475, respectively. Outerchannel 490 is disposed proximate the back face 430, and inner channel491 is disposed proximate the inner face 475, each channel 490, 491extending axially upward from bottom surface 420 toward upper surface460. Outer channel 490 is generally T-shaped having a back face 490 aopposite a front face 490 b, and an upper surface 490 c disposed betweenand connecting back and front faces 490 a, 490 b, respectively.Extension 490 d of outer channel 490 is disposed on back face 430 andextends from lower edge 430 b axially upward toward upper edge 430 a,comprises left face 490 e opposite right face 490 f and an upper surface490 g disposed between and connecting left and right faces 490 e, 490 f,respectively. Extension 490 d perpendicularly intersects back face 490 ato form a T-shaped channel in bottom surface 420.

Outer channel 490 has a width W₄₉₀ (as measured horizontally alongbottom face 420 between the left and right side faces 490 a, 490 b,respectively) preferably between 5.0 and 7.0 inches; and a height H₄₉₀(as measured vertically between the bottom face 420 and upper surface490 c along the left face 440) preferably between 1.0 and 6.0 inches.Portion 490 d of outer channel 490 has a width W_(490d) (as measuredhorizontally along bottom face 420 between the left and right side faces440 e, 440 f, respectively) preferably between 2.0 and 5.0 inches; and aheight H_(490d) (as measured vertically between the bottom face 420 andupper surface 490 g along the back face 430) preferably between 1.0 and6.0 inches. In the present embodiment, extension 490 d of outer channel490 is disposed approximately equidistant from left and right sides 440,450, respectively. In other embodiments, extension 490 d may be disposedcloser to left side 440 or closer to right side 450.

Referring still to FIGS. 12a and 12b , inner channel 491 has a back face491 a opposite a front face 491 b, and an upper surface 491 c disposedbetween and connecting back and front faces 491 a, 491 b, respectively.Inner channel 491 has a width W₄₉₁ (as measured horizontally alongbottom face 420 between the left and right side faces 491 a, 491 b,respectively) preferably between 2.0 and 9.0 inches; and a height H₄₉₁(as measured vertically between the bottom face 420 and upper surface491 c along the left face 440) preferably between 0.2 and 2.0 inches. Inthe present embodiment, outer channel 490 has a smaller width W₄₉₀ thanwidth W₄₉₁ of inner channel 491, and outer channel 490 has a largerheight H₄₉₀ than height H₄₉₁ of inner channel 491. In other embodiments,outer channel 490 may have a larger width W₄₉₀ than width W₄₉₁ and/or asmaller height H₄₉₀ than height H₄₉₁. Further, channels 490, 491 may bedistributed along left and right sides 440, 450, respectively,symmetrically or asymmetrically (shown). In other embodiments, only onechannel may be used or more than two channels.

Referring now to FIG. 12b , three extension loops 443 are disposed onleft side 440 proximate bottom surface 420. Each extension loop 443 hasan upper face 443 a opposite a lower face 443 b, is generally cuboid,extends from left side 440 radially outward, and has a through hole 443c that extends from upper face 443 a to lower face 443 b. In the presentembodiment, one extension loop 443 is disposed proximate back face 430,one extension loop 443 is disposed proximate inner face 475, and oneextension loop 443 is disposed between the inner and outer channels 491,490. In an alternative embodiment, two extension loops may be used inany combination of locations. In other embodiments, one or moreextension loops may be employed.

Referring now to FIG. 12a , three tabs 453 are disposed on right side450 proximate bottom surface 420. Each tab 453 comprises an L-shapedportion 453 a disposed at the bottom of a body 453 b that is coplanarwith right side face 450, and the sides of body 453 b being formed bycutouts 453 c. L-shaped portion 453 a extends axially outward away fromright side face 450. In the present embodiment, one tab 453 is disposedproximate back face 430, one tab 453 is disposed proximate inner face475, and one tab 453 is disposed between the inner and outer channels491, 490. Each tab 453 on right side face 450 engages in an interlockingmanner an extension loop 443 on left side face 440 of an adjacentplatform section 410 until all tabs 453 have engaged all correspondingside face 450. In an alternative embodiment, two tabs may be used in anycombination of locations. In other embodiments, one or more tabs may beemployed.

Referring still to FIG. 12a , two coplanar slots 477 are disposed oninner face 475 approximately halfway between upper surface 460 andbottom surface 420 and each slot 477 extends axially outward from innerface 475, perpendicular to central axis 405, toward back face 430. Inthe present embodiment, one slot 477 is disposed proximate left side 440and one slot 477 is disposed proximate right side 450. In an alternativeembodiment, one or more slots 477 may be used in any combination oflocations.

Referring now to FIG. 11, center zone top face 470 a is parallel tobottom face 470 c and both top and bottom faces 470 a, 470 c,respectively, lie in a plane oriented perpendicular to central axis 405.Center zone 470 has a length L₄₇₀ (as measured horizontally between twoopposed side faces 470 b) preferably between 10.0 and 20.0 inches; aheight H₄₇₀ (as measured vertically between the top and bottom faces 470a, 470 c) preferably between 0.2 and 2.0 inches; and each side face 470b has a width W₄₇₀ (as measured between adjacent side faces 470 b on theleft and right) preferably between 3.0 and 8.0 inches. Though shown inthe present embodiment parallel to bottom face 420, center zone top face470 a may be curved such that the portion of top face 470 a thatintersects central axis 405 is disposed axially below the intersectionof top face 470 a and side faces 470 b.

Center zone 470 further comprises two tabs 473 on each side 470 b. Eachtab 473 extends outward orthogonally from side 470 b. In the presentembodiment, tabs 473 are disposed approximately halfway between the topand bottom faces 470 a, 470 c, respectively, and spaced aparthorizontally. Tabs 473 are configured such that both tabs 473 slidinglyengage into corresponding slots 477 disposed in inner face 475 ofplatform section 410. In other embodiments, tabs 473 may be disposedcloser to either the top or bottom face 470 a, 470 c, respectively.

Referring now to FIGS. 14-16, platform connection structure 500comprises eight circumferentially adjacent generally trapezoidalconnection plates 510 disposed about central axis 405. Each plate 510further comprises a top face 560 opposite a bottom face 520, a left sidewall 540 and a right side wall 550. Plate 510 further comprises sixthrough holes 575 distributed across top face 560 that extend axiallydownward through to bottom face 520. Through holes 575 may all have thesame diameter or may have differing diameters. Through holes 575 allowfasteners 585 to pass therethrough. In general, any fastener known inthe art, including but not limited to screws (shown in FIGS. 14 and 16),nuts and bolts, snap fit fasteners, and press fit fasteners may be used.Connection plates 510 may be made of any suitable material known in theart, including but not limited to metals or polymers.

Each plate 510 is configured to fit within inner channel 491 such thattop face 560 of connection plate 510 abuts inner channel upper surface491 c, left side wall 540 of connection plate 510 is disposed proximateleft side face 440 of platform section 410, and right side wall 550 ofconnection plate 510 is disposed proximate right side face 450 ofplatform section 410. Fasteners 585 then secure plate 510 to platformsection inner channel 491.

Still referring to FIGS. 14-16, left side wall 540 comprises an upperedge 540 a opposite a lower edge 540 b, and a back edge 540 c oppositean inner edge 540 d. Left side wall 540 extends axially downward fromtop face 560 to lower edge 540 b, and has two through holes 545 disposedapproximately halfway between upper and lower edges 540 a, 540 b,respectively. In the present embodiment, through holes 545 areapproximately equidistantly distributed horizontally across left sidewall 540. In other embodiments, through holes 545 may be positioned inany suitable configurations known in the art.

Similarly, right side wall 550 comprises an upper edge 550 a opposite alower edge 550 b, and a back edge 550 c opposite an inner edge 550.Right side wall 550 extends axially downward from top face 560 to loweredge 550 b, and has two through holes 555 disposed approximately halfwaybetween upper and lower edges 550 a, 550 b, respectively. In the presentembodiment, through holes 555 are approximately equidistantlydistributed horizontally across left side wall 550. In otherembodiments, through holes 555 may be positioned in any suitableconfigurations known in the art.

Still referring to FIGS. 14-16, through holes 545, 555 are positioned onleft and right side walls 540, 550, respectively, such that when a leftside wall 540 of one connection plate 510 abuts a right side wall 550 ofanother connection plate 510, through holes 545, 555 on both the leftand right side walls 540, 550, respectively, are aligned and allow afastener 565 to pass therethrough. Any fastener known in the art,including but not limited to nut and bolt fasteners (shown in FIG. 16),screws, snap fit fasteners, and press fit fasteners may be used. Aftereach plate 510 is installed in platform section inner channel 491 andsecured with fasteners 585, as previously described, each plate leftside wall 540 is secured to the plate right side wall 550 of an adjacentplatform section 410 until all platform section 410 are securedtogether.

In the present embodiment, the angle A₅₁₀ between the adjacentconnection plates 510 is 135 degrees. It should be appreciated thatangle A₅₁₀ is dependent upon the number of connection plates 510 used toform platform connection structure 500. For example, in an embodiment,platform connection structure 500 may be made up of six sections 510,then angle A₅₁₀ would be 120 degrees. In another embodiment, platformconnection structure 500 may be made up of nine sections 510 with anangle A₅₁₀ of 140 degrees.

Referring now to FIGS. 14 and 17 a, base 600 comprises eight tubularmembers 610 having a rectangular cross section and connected to eachother with eight angular connectors 620 and fasteners 635. Each tubularmember 610 has an upper face 610 a opposite a bottom face 610 b, a leftend 610 c opposite a right end 610 d, and an inside face 610 e oppositean outside face 610 f Each tubular member 610 has two bore holes 611disposed on upper face 610 a proximate left end 610 c and two bore holes611 disposed on upper face 610 a proximate right end 610 d. All tubularmembers 610 generally have the same overall dimensions, including thedimensions positioning the boreholes 611. Tubular member 610 may be madeof any suitable material known in the art, including but not limited tometals or polymers.

Referring now to FIG. 18, each angular connector 620 comprises a centralangular body 623, a generally cuboid left insert 627, a generally cuboidright insert 629, and a foot pad 630 (see FIG. 17a ). Central angularbody 623 has a top face 621 opposite a bottom face 622, an outer angularside 624 having a left half 624 a and a right half 624 b, and an innerangular side 625 having a left half 625 a and a right half 625 b. Bodytop face 621 has a left edge 621 a and a right edge 621 b; and bodybottom face 622 has a left edge 622 a and a right edge 622 b. Angularconnector 620 may be made of any suitable material known in the art,including but not limited to metals or polymers. Foot pad 630 may bemade of any suitable material known in the art, including but notlimited to rubbers or polymers.

Referring now to FIGS. 14 and 18, in the present embodiment, the angleA₆₂₄ of the bend in each angular connector 620 (i.e., the angle A₆₂₄between the left half 625 a and right half 624 b of angular side 624) is135 degrees. It should be appreciated that angle A₆₂₄ is dependent uponthe number of tubular members 610 used to form base 600. For example, inan embodiment, base 600 may be made up of six tubular members 610, thenangle A₆₂₄ would be 120 degrees. In another embodiment, base 600 may bemade up of nine tubular members 610 with an angle A₆₂₄ of 140 degrees.

Left insert 627 has a top face 627 a opposite a bottom face 627 b, anend face 627 c disposed orthogonal to and extending between top andbottom faces 627 a, 627 b, respectively, and an outer side face 627 dopposite inner side face 627 e disposed orthogonal to and extendingbetween top and bottom faces 627 a, 627 b, respectively. Left insert 627further comprises two bores 615 in top face 627 a disposed approximatelyhalfway between left edge 621 a and end face 627 c; one bore 615disposed proximate outer side face 627 d, and one bore disposedproximate inner side face 627 e. Further, left insert 627 has slightlysmaller dimensions such that a lip 613 is formed around the entireinterface between the left insert 627 and the central angular body 623(i.e., lip 613 is formed at the interfaces of (1) top face 627 a andleft edge 621 a; (2) bottom face 627 b and left edge 622 a; (3) outerside face 627 d and outer angular left half 624 a; and (4) inner sideface 627 e and inner angular left half 625 a).

Referring now to FIG. 18, right insert 629 has a top face 629 a oppositea bottom face 629 b, an end face 629 c disposed orthogonal to andextending between top and bottom faces 627 a, 627 b, respectively, andan outer side face 629 d opposite inner side face 629 e disposedorthogonal to and extending between top and bottom faces 627 a, 627 b,respectively. Right insert 629 further comprises two bores 615 in topface 629 a disposed approximately halfway between right edge 621 b andend face 629 c; one bore 615 disposed proximate outer side face 629 d,and one bore disposed proximate inner side face 629 e. Further, rightinsert 629 has slightly smaller dimensions such that a lip 613 is formedaround the entire interface between the right insert 629 and the centralangular body 623 (i.e., lip 613 is formed at the interfaces of (1) topface 629 a and right edge 621 b; (2) bottom face 629 b and right edge622 b; (3) outer side face 629 d and outer angular right half 624 b; and(4) inner side face 629 e and inner angular right half 625 b).

Referring still to FIGS. 14 and 18, in the present embodiment, the leftand right inserts 627, 629, respectively, of each angular connector 620slidingly engage the right and left ends 610 d, 610 c, respectively, ofeach tubular member 610, such that an octagon shape is formed. Each leftinsert 627 is configured to slide into a tubular right end 610 d, suchthat bores 611 of tubular members 610 align with bores 615 of angularconnector 620. A fastener 635 is then inserted into the aligned bores611, 615 to secure the angular connector 620 to the tubular member 610.The right inserts 629 are similarly configured to slide into the tubularleft end 610 c, such that bores 611 of tubular members 610 align withbores 615 of angular connector 620. A fastener 635 is then inserted intothe aligned bores 611, 615 to secure the angular connector 620 to thetubular member 610. Any fastener known in the art, including but notlimited to screws (shown in FIGS. 14, 17 a, and 17 b), snap fitfasteners, and press fit fasteners may be used. In an alternativeembodiment, angular connectors 620 are welded to tubular members 610. Inthe present embodiment, after all the fasteners 635 are in place and theangular connectors 620 are secured to the ends of tubular members 610,platform 400 can then be placed on base 600, such that base 600 isdisposed in platform channel 490.

In the present embodiment, the interface between the inserts 627, 629and the central angular body 623 provides a lip 613; however in otherembodiments, angular connector 620 need not comprise a lip. In thepresent embodiment, foot pads 630 are disposed on the bottom of angularconnectors; however, in other embodiments, foot pads may be disposed onthe bottom of platform sections 410, center zone 470, or any combinationthereof

Referring now to FIGS. 17a and 17b , in this embodiment, harness supportassembly or safety harness support structure 700 includes a paircircumferentially-spaced vertical members 710, a pair of base interfaces720 coupling structure 700 to base 600, a pair of connecting beams 730extending between interfaces 720 and members 710, a pair adjustableheight beams 740 telescoping from members 710, and a support band orhalo 750 disposed between beams 740. Each vertical member 710 is cuboid,tubular, and has an inside face 710 a opposite an outside face 710 b, aleft face 710 c opposite a right face 710 d, and an open top face 710 eopposite an open bottom face 710 f. Vertical members 710 furthercomprise a plurality of through holes 715 that extend between andthrough the inside and outside faces 710 a, 710 b, respectively. Throughbores 715 are disposed horizontally halfway between left and right faces710 c, 710 d, respectively, and are vertically spaced evenly apart.Vertical members 710 may be made of any suitable material known in theart, including but not limited to metals or polymers.

Each base interface 720 is cuboid, tubular, and has an inside face 720 aopposite an outside face 720 b, an open left face 720 c opposite an openright face 720 d, and a top face 720 e opposite a bottom face 720 f Baseinterfaces 720 further comprise four bores 725 that extend axiallydownward from top face 720 e, each bore 725 disposed proximate one ofthe four corners of top face 720 e. The dimensions of base interface 720are slightly larger than that of tubular member 610 to allow baseinterface 720 to slide over tubular member 610. Fasteners 728 securebase interface to base tubular member 610. Base interfaces 720 may bemade of any suitable material known in the art, including but notlimited to metals or polymers. Any fastener known in the art including,but not limited to, nut and bolt fasteners, screws (shown in FIGS. 17aand 17b ), snap fit fasteners, and press fit fasteners may be used. Inan alternative embodiment, base interfaces 720 are welded to tubularmembers 610.

Referring still to FIGS. 17a and 17b , vertical tubular 710 is connectedto base interface 720 through connecting beam 730. Connecting beam 730is cuboid and has an inside face 730 a opposite an outside face 730 b, aleft face 730 c opposite a right face 730 d, and a top face 730 eopposite a bottom face 730 f. Connecting beam outside face 730 b isconnected to vertical tubular inside face 710 a and connecting beaminside face 730 a is connected to base interface outside face 720 b.Connecting beam 730 may be connected to vertical tubular 710 and baseinterface 720 using any fastening means known in the art, including butnot limited to welding, nut and bolt fasteners, screws, snap fitfasteners, and press fit fasteners. In another embodiment, verticaltubular 710, connecting beam 730, and base interface 720 may bemonolithic or formed from one piece of material. Connecting beam 730 maybe tubular or solid and may be made of any suitable material known inthe art, including but not limited to metals or polymers.

Each adjustable height beam 740 is tubular and comprises threeportions—an adjustor portion 742, an angled portion 744, and a ringinterface portion 746. Adjustor portion 742 is cuboid, tubular, and hasan inside face 742 a opposite an outside face 742 b, a left face 742 copposite a right face 742 d, and an open bottom face 710 f. Eachadjustable portion 742 further comprises a plurality of through holes745 that extend between and through the inside and outside faces 742 a,742 b, respectively. Through bores 715 are disposed horizontally halfwaybetween left and right faces 742 c, 742 d, respectively, and arevertically spaced evenly apart. Adjustor portion 742 is disposed insidevertical tubular 710 and through holes 745 are positioned on adjustorportion 742 such that the vertical distance between each through hole745 is equivalent to the vertical distance between the through holes 715in vertical tubular 710, whereby the raising or lowering of adjustableheight beam 740 in vertical tubular 710 allows through holes 715, 745 tobecome aligned. Once through holes 715, 745 of the vertical tubular 710and the adjustable portion 742, respectively, are aligned, a lockingmechanism 718 can be inserted in through the aligned through bores 715,745. Angled portion 744 is tubular and extends axially upward andradially inward from adjustor portion 742 toward support halo 750. Ringinterface portion 746 extends axially upward from the top of angledportion and is connected to support halo 750. Ringer interface portion746 may be connected to support halo 750 using any fastening means knownin the art, including but not limited to screws, nuts and bolts, snapfit fasteners, and press fit fasteners. Vertical members 710 may be madeof any suitable material known in the art including, but not limited to,metals or polymers. Any locking mechanism 718 known in the art,including, but not limited to, a lock pin, a ball pin, and nut and boltfasteners may be used. In an alternative embodiment, two or more lockingmechanisms 718 may be inserted through two or more aligned through bores715, 745.

Referring now to FIGS. 17a, 17b , 19, and 20, ring interface portions746 (and entire adjustable height beam 740) are connected to anddisposed about support halo 750 at angle A₇₄₀, the angle A₇₄₀ defined bythe planes that vertically bisect the inside face 710 a of each verticalmember 710, that is preferable 135.0 degrees. In other embodiments, thisangle A₇₄₀ may be 180.0 degrees or smaller, depending on the number ofplatform sections 410 used, for example. The overall height H₇₅₀ (asmeasured vertically between the vertical tubular bottom face 710 f andtop surface support ring top surface 750 a) of the support ring 750 canbe adjusted as previously described to accommodate the different heightsof the user. The range in support ring height H₄₉₁ is preferably between30.0 and 50.0 inches. In this embodiment, support halo 750 is a closedloop structure designed to extend completely around the user. Toaccommodate the user, support halo 70 preferably has a minimum innerwidth W₇₅₀ between 15 and 25 inches. Although halo 750 is a closedstructure that extends completely around the user in this embodiment, inother embodiments, the support halo (e.g., support halo 750) can be anopen structure that extends partially around the user (e.g., C-shaped).

Referring now to FIGS. 17a, 17b , 20, and 21, support halo 750 extendsabout a vertical central axis 705 and has a top surface 750 a opposite abottom surface 750 b, and inner surface 750 c opposite an outer surface750 d. In this embodiment, support halo 750 is an annular ring, andthus, may also be referred to as support ring 750. It should beappreciated that since support ring 750 is annular in this embodiment,minimum inner width W₇₅₀ is an inner diameter D₇₅₀. Although supporthalo 750 is annular in this embodiment, in other embodiments, thesupport halo (e.g., support halo 750) can have other geometries such asoval, ovoid, rectangular, square, etc.

Support ring 750 further comprises a support structure 753, a lower ring755, an upper ring 757, and a door 759 with a latch 760 and a hinge 765.In the present embodiment, support structure 753 provides rigidity aswell as a structure on which to attach the lower and upper rings 755,757, respectively. When door 759 is closed, support structure 753overlaps the support structure 753 in the support ring 750, allowing thesupport ring 750 to support a load. Support structure 753 may be made ofany suitable material known in the art including, but not limited to,metals or polymers, and is preferably made of high-density polyethylene(HDPE). Lower ring 755 has a U-shaped cross section and is attached tosupport structure 753 to form the bottom surface 750 b and the lowerpart of both inner and outer surfaces 750 c, 750 d, respectively. Upperring 757 has an inverted U-shaped cross section and is attached tosupport structure 753 to form the top surface 750 a and the upper partof both inner and outer surfaces 750 c, 750 d, respectively. Lower andupper rings 755, 757, respectively, also comprise cutouts 756 toaccommodate any suitable fastening device known in the art including,but not limited to screws, snap fit fasteners, and press fit fasteners.Lower and upper rings 755, 757, respectively, may be made of anysuitable material known in the art, including but not limited topolymers.

Door 759 comprises a portion of support ring 750 that is movable byhorizontally pivoting at hinge 765 along an axis parallel to centralaxis 405. Hinge 765 in combination with a pin 766 may employ anysuitable means known in the art, including but not limited to a ballpin, a lock pin, and a quick release pin. When in the closed position,latch 760 engages a lock plate 761 disposed on the stationary portion ofsupport ring 750.

Referring now to FIGS. 10 and 22, safety harness 800 comprises agenerally U-shaped bar 810, a pair of mounting members 820, a pair ofvertical members 830, a waist belt 840, and two interface structures850. U-shaped bar 810 is tubular and lies in a plane orthogonal tocentral axis 405. At each end of U-shaped bar 810, a mounting member 820extends radially outward from U-shaped bar 810; and a vertical member830 extends axially downward from the mounting member 820. In thepresent embodiment, mounting member 820 is a square tubular bar andvertical member 830 is a vertical tubular bar that further comprises avertical contact structure 835. Mounting member 820 and vertical member830 may be made of any suitable material known in the art, including butnot limited to metals and polymers. In the present embodiment, verticalcontact structure or glide pad 835 is fastened to an exterior side ofvertical member 830 with nuts and bolts. Vertical contact structure 835may be made of any suitable material known in the art, including but notlimited to polymers, and is preferably made of HDPE. A waist belt 840 isfixably attached to the U-shaped bar 810 on each of the interior sidesof the U-shaped cross section. Waist belt 840 may be attached to bar 810using any means standard in the art including, but not limited to, hookand loop fasteners, buttons, nuts and bolts, screws, and adhesives.Waist belt 840 may be attached directly to bar 810 or may be attached toa bracket 815 (FIG. 22) that is then attached to the bar 810.

Referring now to FIG. 22, an interface structure 850 is disposed on eachmounting member 820. Each interface structure 850 has a tubular bore 851disposed in the center portion of interface structure 850 that slidinglyengages mounting member 820. Interface structure 850 comprises a lowhorizontal contact structure or glide pad 853 and a high horizontalcontact structure or glide pad 857 that are installed opposite eachother; thus, when high horizontal contact structure 857 is facingupward, low horizontal contact structure 853 is facing downward towardplatform 400 and vice versa. The distance D₈₅₇ from the center oftubular bore 851 vertically upward to high horizontal contact structure857 is greater than the distance D₈₅₃ from the center of tubular bore851 vertically downward to low horizontal contact structure 853. Thedifference in distance D₈₅₃, D₈₅₇ allows for an additional level ofheight adjustment when the interface structure 850 is reversed. In thepresent embodiment, horizontal glide pads 853, 857 are fastened toopposite exterior sides of interface structures 850 with nuts and bolts.Interface structure 850 has a length L₈₅₀ preferably between 4.0 and10.0 inches and a height (D₈₅₃ plus D₈₅₇) preferably between 2.0 and 8.0inches. Horizontal glide pads 853, 857 may be made of any suitablematerial known in the art, including but not limited to polymers, and ispreferably made of HDPE. Interface structure 850 is secured to mountingmember 820 with a locking mechanism 865. Locking mechanism 865 may beany fastener known in the art, including, but not limited to, a lockpin, a ball pin, and nut and bolt fasteners may be used.

During use, harness 800 is placed in support ring 750 such thatinterface structures 850 slidingly engage the support ring 750 and canmove circumferentially and radially relative to the support ring 750.Further, horizontal glide pads 853, 857 (either low or high,respectively) rest on and are in contact with top surface 750 a andvertical contact structure 835 is disposed within inside surface 750 cof support ring 750 allow ease in maneuverability of the user. The usermay move up and down above the support ring 750 such that the interfacestructures 850 no longer engage the support ring 750 and the verticalcontact structure 835 may or may not remain disposed within the insidesurface 750 c of support ring 750. As previously described, support ring750 and contact structures are all made of polymers, which allows thecontact structures 835, 853, 857 to slide on support ring 750.

Referring now to FIG. 23, an embodiment of a foot covering 900 for usewith embodiments of locomotion systems and platforms described herein isshown. In this embodiment, foot covering 900 comprises an upper portion910, a sole 930, and a plurality of variable friction pads 940-960, 980.As used herein, the term “foot covering” refers to a shoe or anovershoe. An overshoe is a foot covering that at least partially coversthe wearer's shoe and generally includes a sole and a means to attachthe sole to the wearer's shoe or body (e.g., foot, ankle, or leg).Further, when used to describe foot covering 900, the terms “top” or“bottom” may be used for purposes of description with “up,” “upper,”“upward,” or “above” meaning generally toward or closer to the end offoot covering 900 closest to the toe 901, and with “down,” “lower,”“downward,” or “below” meaning generally toward or closer to the end offoot covering 900 closest to the heel 902. The overall length and widthof foot covering 900 will vary depending on the size of the wearer'sfoot; thus, foot covering 900 may be customized to fit any sized foot.In the present embodiment, foot covering 900 may be made of any suitablematerial known in the art, including but not limited to fabric, leather,or other suitable material known in the art.

Referring still to FIG. 23, sole 930 of foot covering 900 covers theunderside of the wearer's foot and connects to upper portion 910 alongthe entire perimeter of the wearer's foot. In this embodiment, upperportion 910 and sole comprise one continuous piece of material.

Sole 930 comprises three sections—a forefoot 935, a midfoot 965, and ahindfoot 975. Forefoot section 935 includes toe friction pad 940 and afirst, second, third, and fourth forefoot pad 945, 950, 955, 960,respectively. Toe friction pad 940 is disposed on the bottom of sole 930proximal to the toe 901 or the “top” of sole 930, and has two curved orcut out portions at the lower end of friction pad 940. Toe friction pad940 extends from the top of toe 901 downward toward heel 902 preferablybetween 0.5 and 2.5 inches and from one side 903 across the entire widthof sole 930 to the other side 904. Friction pad 940 may be round or anyother suitable shape known in the art. Friction pad 940 may be made ofany suitable material including, but not limited to, fabric, leather, orpolymers. First friction pad 945 is generally circular and is disposedbelow and adjacent to toe friction pad 940 in one of the cut outportions at the bottom of toe friction pad 940. First friction pad 945has a diameter preferably between 0.4 and 2.0 inches. Second frictionpad 950 is generally circular and is disposed below and adjacent to toefriction pad 940 in the other of the two cut out portions at the bottomof toe friction pad 940. Second friction pad 950 has a diameterpreferably between 0.4 and 2.0 inches. Third friction pad 955 isgenerally circular and is disposed on sole 930 below and proximal tofirst friction pad 945. Third friction pad 955 has a diameter preferablybetween 0.4 and 2.0 inches. Fourth friction pad 960 is generallycircular and is disposed on sole 930 below and proximal to secondfriction pad 950. Fourth friction pad 960 has a diameter preferablybetween 0.4 and 2.0 inches. Though shown in the present embodiment withfour friction pads 945, 950, 955, 960, in other embodiments, forefootsection 935 may comprise three or fewer friction pads of varying sizes.In yet other embodiments, forefoot section 935 may comprise five or morefriction pads of varying sizes.

Still referring to FIG. 23, midfoot section 965 comprises the portion ofthe shoe covering 900 that supports the arch of the wearer's foot. Inthis embodiment, midfoot section 965 does not comprise any frictionpads. However, in other embodiments, midfoot section 965 may compriseone or more friction pads of varying sizes.

Hindfoot section 975 comprises heel friction pad 980. Fifth friction pad980 is generally shaped like a FIG. 8 on its side, and is disposed onsole 930 approximately centered between sides 903, 904 and proximal tothe heel 902. Fifth friction pad 980 has a width preferably between 0.4and 2.0 inches and a height preferably between 0.4 and 2.0 inches.Though shown in the present embodiment with one friction pad 980 inother embodiments, hindfoot section 975 may comprise two or morefriction pads of varying sizes and shapes.

All friction pads 940, 945, 950, 955, 960, 980 have a thicknesspreferably between 0.1 and 1.0 inch. Though the majority of frictionpads 940-960, 980 are shown in the present embodiment as circular, inother embodiments friction pads 940-960, 980 may extend from one side903 across the entire width of sole 930 to the other side 304. Frictionpads 940-960, 980 may be made of any suitable material known in the artincluding, but not limited to, polymers, ceramics, rubber, fabric, fiberglass, or fur. Friction pads 940-960, 980 are preferably made ofpolyethylene or polytetrafluoroethylene, and more preferably made ofhigh density polyethylene. In another embodiment, sole 930 may comprisea layer of fur instead of friction pads. In another embodiment, theentire foot covering 900 may comprise fur or fabric. In anotherembodiment, the foot coverings 900 may comprise a plastic low frictionbag that wraps around the shoe of the user.

Because upper platform surface 460 is inclined, the friction pads940-960, 980 will slide downward toward the center zone 470 under theforce of gravity. The ease or amount of sliding of the pads 940-960, 980on platform surface 460 will depend on the coefficient of frictionbetween the pads 940-960, 980 and surface 460. The coefficient offriction may vary depending on the material chosen for both the platformsurface 460 and the pads 940-960, 980. Thus, the material for frictionpads may be selected based upon the desired coefficient of friction.

Friction pads 940-960, 980 are preferably made of a material having acoefficient of dry friction with platform surface 460 less than or equal0.40 or a coefficient of lubricated friction with platform surface 460less than or equal to 0.25. Moreover, each friction pad 940-960, 980may, but need not have different coefficients of friction. Differentcoefficients of friction may be attained for different portions of theovershoe sole 930 by changing the materials of each friction pad940-960, 980. Thus, the coefficient of friction of the individualfriction pads 940-960, 980 may vary between each friction pad allowingthe toe friction pad 940, for example, to have a greater coefficient offriction than the interior first, second, third, fourth, and fifthfriction pads 945-960, 980. Increasing the coefficient of frictionbetween the toe friction pad 940 and the platform surface 460, allowsfor greater stability by reducing the sliding effect when the heel liftsoff the platform surface 460.

The use of a lubricant can further decrease the coefficient of frictionbetween the pads 940-960, 980 and platform surface 460. Lubricantsstandard in the art may be used, including but not limited to siliconewipes or oil-based sprays.

To utilize the locomotion system 40, the user dons the foot coverings900 on both feet, steps onto the platform 400 and to the center zone470, and into support ring 750. The user then straps on the supportharness 800 and then closes and latches the door 759. The user can thenemploy the virtual reality device of his/her choice. Once in the virtualenvironment, any movement in the physical world made by the user willtranslate to movement in the virtual world.

The user may exercise freedom of movement while on platform 400. Theuser may take a first step with a first leg off the center zone 470 andonto the angled top surface 460. As the user takes a second step withhis/her second leg, the force of gravity guides the user's first footdown the incline of angled top surface 460 toward center zone 470. Thelow coefficient of friction between the foot covering pads 940-960, 980and the platform surface 460 allows the foot covering 900 to slide onsurface 460, and the process is repeated. The user is thus able tomaintain continuous walking motion in the virtual world while onlymoving within the perimeter of platform 400.

As previously described, angled top surface 460 need not comprise anychannels or grooves and still allow the user to exercise freedom ofmovement while on the platform 400. However, in the preferredembodiment, angled top surface 460 does include grooves 480 as thegrooves decrease the contact surface area between the platform 400 andthe foot coverings 900, guide the user's foot to the center zone 470,prevent lateral slide, and are aesthetically pleasing.

Referring now to FIG. 24, the locomotion system 40 described herein maybe used in conjunction with a virtual reality system 1000, which maycomprise a processing unit 1200 in communication with one or more motionsensing devices 1100, a display device 1300, and a controller 1400. Thevirtual reality system components may be separate devices or combinedinto one or more devices. Motion sensing devices 1100 detect, register,and track the user's motions and gestures and may be separate from theplatform 400 of locomotion system 40 (shown as component 1100 in FIG.24), may be integrated into the platform 400 of system 40 (shown ascomponent 1100′ in FIG. 24), may be integrated into the controller 1400(shown as component 100″ in FIG. 24), may be integrated into the displaydevice 1300 (shown as component 1100″′ in FIG. 24), or any combinationthereof, such that virtual reality system 1000 comprises motion sensingdevices as a separate component 1100, in the locomotion platform 400 ofsystem 40 (component 1100′), in the controller 1400 (component 1100″),and/or in the display device (component 1100″′). In general, any motionsensing device known in the art may be used including, withoutlimitation, optical gesture recognition devices or devices employinginertial motion sensors, accelerometers, magnetometers, infrared oroptical tracking, capacitive sensors built in the base of platform 400,global positioning tracking, magnetic tracking, or any combinationthereof, including but not limited to a Microsoft® Kinect™, Asus® WaviXtion™; Razer® Hydra, Sixense STEM, LEAP MOTION, MYO, INTEL PERCEPTUALCOMPUTING, Sony® PlayStation® Move, and Nintendo® Wii® Remote and Wii®Nunchuck.

The processing unit 1200 utilizes motion recognition software to processthe input signals from the motion sensing devices 1100 and controller1400, recognize the user's motions and gestures on platform 400 oflocomotion system 40, and send output signals to a virtual environmentprogram and to the display device 1300. The virtual environment programcomprises a game or any other three-dimensional environment softwarethat is compatible with the processing unit 1200 and display device1300. The output signals the processing unit 1200 sends to the virtualenvironment program and the display device 1300 direct the movements andactions of the virtual representation of the user (i.e., the avatar)based on the physical motions of the user, and correspondingly changethe projected view to the user, respectively. In general, any processingunit known in the art may be used including, without limitation, apersonal computer, laptop, game console, smartphone, or tablet that iscapable of processing graphics and running software capable ofprocessing input from the motion sensing devices and sending outputsignals to the virtual environment program and display device. In analternative embodiment, processing unit 1200 is an integral component oflocomotion system 40.

The display device 1300 provides the visual images of the virtualenvironment to the user. In general, any display device known in the artmay be used including, without limitation, virtual reality glassesincluding but not limited to Oculus Rift, Vuzix® Wrap 920 VR Bundle; orprojectors, screens, and CAVE environments that may or may not beintegrated with the processing unit.

The virtual reality system 1000 may further comprise a wired or wirelesscontroller 1400 to further aid in directing certain avatar actions inthe virtual environment, such as a game pad or joystick (e.g., Xbox 360®controller, if compatible or made compatible with the processing unit1200 and virtual environment program), a keyboard and mouse, aTacticalHaptics controller, a Sixense STEM controller, or a gun (such asthe Wii Zapper® with the Wii Remote® and Wii Nunchuk®, if compatible ormade compatible with the processing unit 1200 and virtual environmentprogram) or other weapon peripheral. As previously discussed, in otherembodiments, the controller 1400 may also comprise motion sensingdevices 1100.

It should be appreciated that the user may perform any number ofmovements while using locomotion system 10, 40 including but not limitedto crouching, jumping, squatting, walking, running, kneeling, standing,turning, and strafing (i.e., sideways stepping). Thus, the user can moveabout the virtual environment by moving unhindered in the physical worldand having those movements translated to motion in the virtualenvironment.

As previously described, the safety harness support structure 700comprises vertical members 710 coupled to base 600 (via coupling totubular members 610) and extending from the planar back face 430 of theplatform 400. However, in other embodiments, the safety harness supportstructure 700A could alternatively be coupled to the platform 400A byother means, for example as shown in FIG. 25, vertical members 710A areseated in mating receptacles 711 in radial outer portion 499 of section410A.

As previously described, the safety harness support structure 700comprises two vertical members 710 coupled to the platform 400 (viatubular members 610 of base 600). However, in other embodiments, thesafety harness support structure 700B could alternatively be coupled tothe platform 400B by only one vertical member 710B, as shown in FIG. 26.

As previously described, the door 759 comprises a portion of supportring 750 that is movable by horizontally pivoting at hinge 765 along anaxis parallel to central axis 405. However, in other embodiments, thedoor 759C could alternatively be movable at hinge 765C by pivotingoutward horizontally, vertically, or a combination of both. For example,as shown in FIG. 27, door 759C could be moveable by vertically pivotingat hinge 765C.

As previously described, to prevent the user from falling, the userwears a waist or support belt 840 that can be tightened around theuser's waist. This waist belt 840 can comprise of additional straps thatgo around the user's legs, hence forming a harness. The belt 840 and theadditional straps can be made of leather, fabric, or any other material,and can be tightened and closed by means of hook-and loop-fasteners orany other belt tightening and closing mechanism.

As previously described, waist belt 840 is fixably attached to theU-shaped bar 810 on each of the interior sides of the U-shaped crosssection by any fastener 215 standard in the art. However, in otherembodiments, waist belt 840 may be coupled directly to interfacestructures or flanges 850 via fasteners 815′, as shown in FIGS. 28 and29 a-29 q. In addition, safety harness 800′ may comprise three or moreflanges 850′ attached to bar 810′. For example and as is shown in FIGS.28 and 30, safety harness 800′ may comprise four flanges 850′. Further,flanges 850 may be configured differently, as shown in FIGS. 28 and 29a-29 q. As previously described, interface structures or flanges 850comprise horizontal glide pads 853, 857 that slide on support ring 750.

Referring now to FIGS. 29a -29 q, the position of the flanges 850A-850Qis such that they are above the support ring 750A-750Q, and the flanges850A-850Q are long enough to extend over the support ring 750A-750Q whenthe user stands in the middle of the platform 400. The flanges 850A-850Qcan thus never drop below the support ring 750A-750Q. As such, becausethe flanges 850A-850Q are attached to the user's waist belt 840A-840Q,the user will be blocked from falling down by the flanges 850A-850Q, asthe flanges themselves are blocked from going down by the support ring750A-750Q.

The flanges 850A-850Q can be made of metal, plastic, wood, or any othermaterial with sufficient structural strength. They can be a solid flatsurface, or round tubes, or any other shape or form that provides thedesired support. The flanges 850A-850Q can be attached to the belt byrivets or any other attachment mechanism that is strong enough to keepthe flanges in a straight horizontal position whenever an upward forceis applied to them. The user's waist belt 840A- 840Q can be enforcedwith an additional bendable ring to provide enough structural strengthto keep the flanges in place and in horizontal position.

The flange of FIG. 29a has a hook shape 751A, which extends verticallydownward from the end flange 850A on the outside of support ring 750A.Like numbers are used to designate like parts. The flange 850B of FIG.29b has an additional secondary hook 752B disposed on the inside ofsupport ring 750B. The flange 850C of FIG. 29c has a downward slopingedge 751C on the outside of support ring 750C. The flange 850D of FIG.29d has a curved edge 751D on the outside of support ring 750D. Theflange 850E of FIG. 29e has only an interior hook 752E disposed on theinside of support ring 750E. Those hook flanges can further be attachedto the belt via hinges, providing some more movement flexibility tothese hooks.

Similarly, one or more flanges can be upward sloping or curved withinthe support ring. For example, the flange 850F of FIG. 29f slopes upwardon the inside of support ring 750F and then extends horizontally pastsupport ring 750F. The flange 850G of FIG. 29g has a hook 751G disposedon the outside of support ring 750G. The flange 850H of FIG. 29h iscurved upward on the inside of support ring 750H and then extendshorizontally past support ring 750H. The flange 8501 of FIG. 29i slopesupward on the inside of and extends past support ring 750I. The flange850J of FIG. 29j curves upward on the inside of support ring 750J.

To allow for different waist sizes and user adjustability, the flangescan have different edges that can fit over the ring. For example, theflange 850K of FIG. 29k curves in a convex manner over support ring750K. The flange 850L of FIG. 291 slopes upward on the inside of andextends past support ring 750L, and further comprises tabs 852L thatextend vertically downward from flange 850L to catch support ring 750L.The flange 850M of FIG. 29m curves in a convex manner over and extendspast support ring 750M, and further comprises tabs 852M that extendtoward support ring 750M from flange 850M to catch support ring 750M.The flange 850N of FIG. 29n comprises a hook shape 751N, which extendsvertically downward from the end flange 850N, and a plurality ofadditional hook shapes 752N to allow a plurality of positions for hookshapes 752N to rest around support ring 750N. The flange 850O of FIG.290 is substantially similar to the flange of FIG. 29n , but with flangecurving upward and having hook shapes 7510, 752O.

Also, the user can adjust the level of radial constraint by adjustingthe position of the vertical member 830. For example, as shown inalternative embodiment in FIG. 29p , moving the pin 830P further outresults in more constraint, closer to the user results in lessconstraint. The vertical members 830P can be replaced by curved orupward sloping “bumpers” 752Q, as shown in FIG. 29q , that are attachedto the belt 840Q, providing a closed loop. As with the vertical members830P, the user can adjust the top position of the bumper 830Q, to adjustthe level of constraint.

Any combination of the above is possible to provide the user with aradial movement constraint while allowing rotation, and while allowingfor different user waist sizes and different levels of radialconstraint. As previously described, the safety belt 840 is fixablyattached to bar 810 and may be adjustable. In one embodiment, shown inFIG. 31, bar 810″ is adjustable via an extendable connector 899, whichconnects to flange or interface structure 850″. Extendable connector 899allows for some forward and backward flexibility of the user.

While preferred embodiments have been shown and described, modificationsthereof can be made by one skilled in the art without departing from thescope or teachings herein. The embodiments described herein areexemplary only and are not limiting. Many variations and modificationsof the systems, apparatus, and processes described herein are possibleand are within the scope of the invention. For example, the relativedimensions of various parts, the materials from which the various partsare made, and other parameters can be varied. Accordingly, the scope ofprotection is not limited to the embodiments described herein, but isonly limited by the claims that follow, the scope of which shall includeall equivalents of the subject matter of the claims. Unless expresslystated otherwise, the steps in a method claim may be performed in anyorder. The recitation of identifiers such as (a), (b), (c) or (1), (2),(3) before steps in a method claim are not intended to and do notspecify a particular order to the steps, but rather are used to simplifysubsequent reference to such steps.

1. -20. (canceled)
 21. A 360 degree locomotion system for use in avirtual environment, the system comprising: a platform; at least oneharness support assembly coupled to the platform and extending upwardfrom the platform, wherein the at least one harness support assembly isconfigured to enable vertical adjustment; a safety harness configured toprovide vertical support, horizontal support and radial support to auser via the harness support assembly.
 22. The system of claim 21,wherein the platform is octagonal shaped.
 23. The system of claim 21,wherein the platform is concave.
 24. The system of claim 21, furthercomprising at least one foot covering configured to engage the platform,wherein at least part of the foot covering is a low friction material.25. The system of claim 24, wherein the at least one foot coveringincludes one or more sensing devices.
 26. The system of claim 21,further comprising one or more motion sensing devices.
 27. The system ofclaim 26, wherein one of the one or more sensing devices is located onthe at least one harness support assembly.
 28. The system of claim 26,wherein the one or more sensing devices are located on the user.
 29. Thesystem of claim 26, wherein the one or more sensing devices are inertialsensors.
 30. The system of claim 21, further comprising a controller.31. The system of claim 30, wherein the controller includes one or moresensing devices.
 32. The system of claim 21, further comprising asupport halo coupled to the harness support assembly.
 33. The system ofclaim 32, wherein the support halo is configured to extend completelyabout a user.
 34. The system of claim 32, wherein the safety harnesscomprises one or more interface structures for engaging the supporthalo.
 35. The system of claim 32, wherein the safety harness isconfigured to move vertically relative to the support halo.
 36. Thesystem of claim 32, wherein the safety harness is configured to moveradially relative to the support halo.
 37. The system of claim 21,wherein the platform includes a low friction material.
 38. The system ofclaim 21, further comprising a visual display.
 39. A foot coveringconfigured to engage a 360 degree locomotion system for use in a virtualenvironment, the foot covering comprising: a sole at least partiallymade of a low friction material, wherein a user wearing the footcovering is supported by a safety harness engaged with at least oneharness support assembly extending upward from a platform, and the lowfriction material of the sole engages the platform enabling locomotionof the user.